kleiax/Bachelorarbeit-Rover
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added duplicate console to mqtt

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This commit is contained in:
kleiax
2022-02-14 19:31:24 +01:00
parent 6cacea2df3
commit 3a2e51713b
19 changed files with 262 additions and 166 deletions
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src/SpecialMenus/Akku/menuAkku.cpp
+1 -2
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@@ -55,9 +55,8 @@ void MenuAkku::printMenu() {
lcd->printf("Controller: %s", buf);
lcd->setCursor(0, 1);
lcd->printf("Main: %u%%", mainBattery);
} else {
std::cout << "Controller: " << buf << "Main: " << mainBattery << "%" << std::endl;
}
std::cout << "Controller: " << buf << " Main: " << (int) mainBattery << "%" << std::endl;
}
void MenuAkku::update() {
src/SpecialMenus/GPS/menuGPS.cpp
+11 -15
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@@ -76,13 +76,12 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->setCursor(0, 1);
lcd->printf("or no GPS signal");
}
} else {
}
if (gps->satellites.isValid() && gps->satellites.value() > 2)
std::cout << "Sats: " << gps->satellites.value()
<< "HDOP: " << gps->hdop.hdop() << std::endl;
else
std::cout << "Date isn't valid or no GPS signal" << std::endl;
}
<< "HDOP: " << gps->hdop.hdop() << std::endl;
else
std::cout << "Data isn't valid or no GPS signal" << std::endl;
break;
case 1:
@@ -98,13 +97,12 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->setCursor(0, 1);
lcd->printf("or NO GPS signal");
}
} else {
if (gps->satellites.isValid() && gps->satellites.value() > 2)
std::cout << "Lat: " << gps->location.lat()
<< "Lng: " << gps->location.lng() << std::endl;
else
std::cout << "Date isn't valid or NO GPS signal" << std::endl;
}
if (gps->satellites.isValid() && gps->satellites.value() > 2)
std::cout << "Lat: " << gps->location.lat()
<< "Lng: " << gps->location.lng() << std::endl;
else
std::cout << "Data isn't valid or NO GPS signal" << std::endl;
break;
case 2:
@@ -114,9 +112,8 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->printf("Chars processed");
lcd->setCursor(0, 1);
lcd->printf("-> %u", gps->charsProcessed());
} else {
std::cout << "Chars processed: " << gps->charsProcessed() << std::endl;
}
std::cout << "Chars processed: " << gps->charsProcessed() << std::endl;
break;
default:
@@ -124,9 +121,8 @@ void MenuGPS::printPage(uint8_t page) const {
lcd->clear();
lcd->setCursor(0, 0);
lcd->printf("Page: %u", page);
} else {
printf("Page: %u", page);
}
std::cout << "Page: " << (int) page << std::endl;
break;
}
}
src/SpecialMenus/PID/menuPidSettings.cpp
+2 -3
View File
@@ -85,10 +85,9 @@ void MenuPidSettings::printMenu() {
lcd->print(" P I D ");
lcd->setCursor(0, 1);
lcd->print(buf);
} else {
std::cout << " P I D " << std::endl;
std::cout << buf << std::endl;
}
std::cout << " P I D " << std::endl;
std::cout << buf << std::endl;
}
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+2 -2
View File
@@ -69,8 +69,8 @@ void MenuAutopilot::printMenu() {
this->lcd->setCursor(0, 1);
this->lcd->print(buf2);
} else
std::cout << buf1 << " " << buf2 << std::endl;
}
std::cout << buf1 << " " << buf2 << std::endl;
}
void MenuAutopilot::update() {
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
+3 -3
View File
@@ -21,8 +21,8 @@ void MenuCaptureRoute::printMenu() {
this->lcd->setCursor(0, 1);
this->lcd->print("du fahren. :-)");
} else
std::cout << "Capture du\n fahren. :-)" << std::endl;
}
std::cout << "Points: " << this->routeInfo.totalPoints << " du fahren. :-)" << std::endl;
}
void MenuCaptureRoute::update() {
@@ -37,4 +37,4 @@ void MenuCaptureRoute::init() {
this->driveManager->changeModus(Modi::CaptureRoute);
this->captureRoute = (CaptureRoute*) this->driveManager->getDriveModiPtr();
this->routeInfo = this->captureRoute->getRouteInfo();
}
}
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+3 -3
View File
@@ -19,6 +19,6 @@ void MenuManualControl::printMenu() {
this->lcd->setCursor(0, 1);
this->lcd->print("du fahren. :-)");
} else
std::cout << "Jetzt kannst du\n fahren. :-)" << std::endl;
}
}
std::cout << "Jetzt kannst du\n fahren. :-)" << std::endl;
}
src/main.cpp
+116 -99
View File
@@ -9,6 +9,8 @@
#include "driveModi/driveManager.h"
#include "moveControl.h"
#include "network.h"
#include "outputBufMqtt.h"
#include "debugMqtt.h"
#include "menu.h"
#include "menuAction.h"
@@ -23,23 +25,38 @@ MoveControl moveController;
DriveManager driveManager(&moveController);
Menu* main_m;
LiquidCrystal_I2C* lcd;
OutputBufMqtt* bufMqtt;
DebugMqtt* debugMqtt;
// TODO: Platzhalter, muss irgendwann weg
void dummy(){std::cout << "Dummy in Action" <<std::endl;}
void callbackControllerAction();
void callbackControllerConnect();
void controllerPrintBattery();
void i2cScanner();
void restart();
void callbackControllerAction(void);
void callbackControllerConnect(void);
void i2cScanner(void);
void restart(void);
void makeMenu(void);
void setup() {
Serial.begin(115200);
Network::setIps();
Network::connectWifi();
Network::setupMQTT();
Network::checkMQTT();
DebugMqtt::init(Network::getMqtttClient(), Loglevel::debug);
std::cout << "Activate additional output via MQTT..." << std::endl;
debugMqtt = new DebugMqtt("Console");
bufMqtt = new OutputBufMqtt(debugMqtt);
std::cout.rdbuf(bufMqtt);
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "All actions from the main programm run on Core -> " << xPortGetCoreID() << std::endl;
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
std::cout << "\nReady to connect a PS3 Controller... \n";
Ps3.begin(CONTROLLER_MAC);
Wire.begin(21, 19);
// i2cScanner();
lcd = new LiquidCrystal_I2C(0x3F,16,2);
@@ -49,14 +66,97 @@ void setup() {
lcd->setCursor(0, 1);
lcd->print("Press PS-Button");
Network::setIps();
Network::connectWifi();
Network::setupMQTT();
makeMenu();
}
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
std::cout << "\nReady to connect a PS3 Controller... \n";
Ps3.begin(CONTROLLER_MAC);
void loop() {
Network::checkMQTT();
driveManager.loop();
}
void callbackControllerAction() {
auto isDelayReached = [](bool reset = false) -> bool {
static uint32_t lastMillis = 0;
if (reset)
lastMillis = millis();
static const uint16_t delay = 300;
bool res = false;
if (millis() - lastMillis > delay)
res = true;
return res;
};
// Menu controlling
if (isDelayReached()) {
if (Ps3.data.button.up)
main_m->up();
else if (Ps3.data.button.down)
main_m->down();
else if (Ps3.data.button.left)
main_m->left();
else if (Ps3.data.button.right)
main_m->right();
else if (Ps3.data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
main_m->no();
else if (Ps3.data.button.select)
debugMqtt->sendMsg(Loglevel::info, "Here we are: callbackController..");
isDelayReached(true);
}
// This have to be stand here because it have to be run on the other Core
main_m->update();
}
void callbackControllerConnect() {
std::cout << "Controller connected to ESP32" << std::endl;
std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
// TODO: Display is not functional without this seconde init, first init is in setup()
lcd->init();
main_m->printMenu();
}
void i2cScanner() {
std::cout << "\nI2C Scanner" << std::endl;
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ ) {
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0) {
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
nDevices++;
}
else if (error==4) {
Serial.print("Unknow error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
}
void restart() {
ESP.restart();
}
void makeMenu() {
auto dummy = []() {
std::cout << "Dummy in Action" <<std::endl;
};
// Create Menu
main_m = new Menu();
@@ -112,87 +212,4 @@ void setup() {
MenuAction* pidr_e = new MenuAction("Right", pidr_m);
pid_m->addEntry(pidl_e);
pid_m->addEntry(pidr_e);
}
void loop() {
Network::checkMQTT();
driveManager.loop();
}
bool isDelayReached(bool reset = false) {
static uint32_t lastMillis = 0;
if (reset)
lastMillis = millis();
static const uint16_t delay = 300;
bool res = false;
if (millis() - lastMillis > delay)
res = true;
return res;
}
void callbackControllerAction() {
// Menu controlling
if (isDelayReached()) {
if (Ps3.data.button.up)
main_m->up();
else if (Ps3.data.button.down)
main_m->down();
else if (Ps3.data.button.left)
main_m->left();
else if (Ps3.data.button.right)
main_m->right();
else if (Ps3.data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
main_m->no();
isDelayReached(true);
}
// This have to be stand here because it have to be run on the other Core
main_m->update();
}
void callbackControllerConnect() {
std::cout << "Controller connected to ESP32" << std::endl;
std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
// TODO: Display is not functional without this seconde init, first init is in setup()
lcd->init();
main_m->printMenu();
}
void i2cScanner() {
std::cout << "\nI2C Scanner" << std::endl;
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ ) {
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0) {
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
nDevices++;
}
else if (error==4) {
Serial.print("Unknow error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
}
void restart() {
ESP.restart();
}
src/moveControl.cpp
+4 -2
View File
@@ -47,7 +47,9 @@ void MoveControl::loop() {
|| right_motor_time > 50
|| left_speed_time > 50
|| right_speed_time > 50) {
Serial.printf("left M: %d, right M %d, left S %d, right S %d in moveControl::loop\n", left_motor_time, right_motor_time, left_speed_time, right_speed_time);
char buf[128];
sprintf(buf, "left M: %d, right M %d, left S %d, right S %d in moveControl::loop\n", left_motor_time, right_motor_time, left_speed_time, right_speed_time);
std::cout << buf;
}
static uint64_t last_millis = 0;
@@ -162,4 +164,4 @@ void MoveControl::regulateMotors() {
void MoveControl::updateCurrentWheelSpeed() {
this->wheelspeed_left = this->left_speedometer->getSpeed();
this->wheelspeed_right = this->right_speedometer->getSpeed();
}
}
src/network.cpp
+12 -15
View File
@@ -27,12 +27,11 @@ void Network::setIps() {
}
void Network::setupMQTT() {
mqtt_client = new PubSubClient(wifi_client);
mqtt_client->setServer(mqtt_server, MQTT_PORT);
// mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
Network::mqtt_client = new PubSubClient(wifi_client);
// mqtt_client->setServer(mqtt_server, MQTT_PORT);
Network::mqtt_client->setServer(MQTT_SERVER, MQTT_PORT);
Network::mqtt_client->setSocketTimeout(1);
mqtt_client->setSocketTimeout(1);
connectMQTT();
Network::connectMQTT();
}
bool Network::connectMQTT() {
@@ -55,24 +54,22 @@ bool Network::connectMQTT() {
}
void Network::connectWifi() {
// Configures static IP address
if (!WiFi.config(local_IP, gateway, subnet)) {
Serial.println("STA Failed to configure");
}
if (!WiFi.config(local_IP, gateway, subnet))
std::cout << "STA Failed to configure" << std::endl;
// Connect to Wi-Fi network with SSID and password
Serial.print("Connecting to ");
Serial.println(WLAN_SSID);
std::cout << "Connecting to " << WLAN_SSID << std::endl;
WiFi.begin(WLAN_SSID, WLAN_PASSWORD);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
std::cout << "." << std::flush;
}
// Print local IP address and start web server
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
std::cout << std::endl;
std::cout << "WiFi connected." << std::endl;
std::cout << "IP address: " << std::endl;
std::cout << WLAN_IP << std::endl;
}
void Network::checkMQTT() {